Robotic tossing of items in inventory system

ABSTRACT

Robotic arms or manipulators can be used to toss inventory items within an inventory system. Tossing strategies for the robotic arms may include information about how a grasped item is to be moved and released by a robotic arm to achieve a trajectory for moving the item to a receiving location. A tossing strategy may also use a trajectory that avoids time and/or space reserved for a trajectory of another tossed item. The receiving location can include surfaces and/or other features that can be manipulated for receiving the item based on one or more characteristics of the tossed item and/or a trajectory of the tossed item.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/869,450, filed Sep. 29, 2015, granted as U.S. patent Ser. No.10/023,393, on Jul. 17, 2018, and entitled “ROBOTIC TOSSING OF ITEMS ININVENTORY SYSTEM,” the disclosure of which is incorporated herein byreference.

BACKGROUND

Modern inventory systems, such as those in mail order warehouses, supplychain distribution centers, airport luggage systems, and custom-ordermanufacturing facilities, face significant challenges in responding torequests for inventory items. As inventory systems grow, the challengesof simultaneously completing a large number of packing, storing, andother inventory-related tasks become non-trivial. In inventory systemstasked with responding to large numbers of diverse inventory requests,inefficient utilization of system resources, including space, equipment,and manpower, can result in lower throughput, unacceptably long responsetimes, an ever-increasing backlog of unfinished tasks, and, in general,poor system performance. Additionally, expanding or reducing the size orcapabilities of many inventory systems requires significant changes toexisting infrastructure and equipment. As a result, the cost ofincremental changes to capacity or functionality may be prohibitivelyexpensive, limiting the ability of the system to accommodatefluctuations in system throughput.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments in accordance with the present disclosure will bedescribed with reference to the drawings, in which:

FIG. 1 illustrates an example of an inventory system having a roboticarm configured for tossing inventory items of the inventory systemaccording to various embodiments;

FIG. 2 illustrates components of an inventory system according to avarious embodiments;

FIG. 3 illustrates in greater detail the components of an examplemanagement module that may be utilized in particular embodiments of theinventory system shown in FIG. 2;

FIGS. 4 and 5 illustrate in greater detail an example mobile drive unitthat may be utilized in particular embodiments of the inventory systemshown in FIG. 2;

FIG. 6 illustrates in greater detail an example inventory holder thatmay be utilized in particular embodiments of the inventory system shownin FIG. 2;

FIG. 7 illustrates a robotic arm capable of tossing an inventory itemalong multiple trajectories to a receiving location according to variousembodiments;

FIG. 8 illustrates an example of operation of a reservation system formanaging tossing by multiple robotic arms according to variousembodiments;

FIG. 9 illustrates an example of a trajectory of an item tossed by arobotic arm to a floor or level above the robotic arm according tovarious embodiments;

FIG. 10 illustrates an example of features that can be utilized at areceiving location according to various examples;

FIG. 11 illustrates in greater detail additional components that can beutilized in inventory systems herein according to various embodiments;

FIG. 12 is a flowchart illustrating an example of a process that may beperformed for managing tossing of inventory items in an inventory systemaccording to certain embodiments; and

FIG. 13 illustrates an environment in which various features of theinventory system can be implemented, in accordance with at least oneembodiment.

DETAILED DESCRIPTION

In the following description, various embodiments will be described. Forpurposes of explanation, specific configurations and details are setforth in order to provide a thorough understanding of the embodiments.However, it will also be apparent to one skilled in the art that theembodiments may be practiced without the specific details. Furthermore,well-known features may be omitted or simplified in order not to obscurethe embodiment being described.

Embodiments herein are directed to an inventory system having multipleinventory holders and drive units for moving the inventory holders.Specifically, features herein are directed to robotic arms ormanipulators and associated components that may facilitate the movementof inventory items and other features of the inventory system among andbetween elements of the inventory system. The robotic arms ormanipulators may be controlled so as to grasp, move, and release itemsin manners particularly suited for causing the released items to travelalong suitable trajectories from the robotic arms or manipulators toselected receiving locations. For example, a target item, orcharacteristics thereof, may be identified, such as by optical or othersensors, in order to determine a tossing strategy for tossing the itemusing a robotic arm to move the item to a receiving zone or locationdesignated for the item. The tossing strategy may be based at least inpart upon a database containing information about the item,characteristics of the item, and/or similar items, such as informationindicating tossing strategies that have been successful or unsuccessfulfor such items in the past. The tossing strategy may be based at leastin part upon multiple possible trajectories determined to be suitablefor moving an item to an intended receiving location. One of thepossible trajectories may be selected, for example, based on areservation system for ensuring that trajectories provided by differentrobotic arms or manipulators (and/or motions of the robotic arms ormanipulators for causing such trajectories) do not interfere with oneanother, or based on other criteria, such as comparison of efficiency ofenergy expended in causing the trajectory using a robotic arm ormanipulators. Receiving locations may include features that may bemodified to particularly accommodate a tossed item and/or the manner inwhich the item was tossed. Receiving locations can be utilized tofacilitate movement of the tossed inventory items to other places withinthe inventory system.

Referring now to the drawings in which like-referenced numerals and/ornames may refer to like elements, FIG. 1 illustrates an inventory system10 having a robotic arm or manipulator 12 configured to toss inventoryitems 40. Although the description herein primarily refers to a roboticarm, any other mechatronic or robotic device may be used in lieu of orin addition to an arm. The inventory system 10 may include the roboticarm 12, a grasping environment 14, a sensor package 16, a controller 32,an item grasping database 36, an item database 37, and item tossingdatabase 39, and one or more receiving locations 17 (individuallyidentified as 17A, 17B, 17C and 17D in FIG. 1).

In operation, the robotic arm 12 can toss an inventory item 40, such asby performing a series of operations that include grasping the item 40,moving the grasped item 40 to a release point, and releasing the graspeditem 40 at the release point to cause the inventory item 40 to travelalong a trajectory 13 to a receiving location 17. In variousembodiments, utilizing a robotic arm 12 to toss an item 40 to areceiving location 17 can improve throughput through the inventorysystem 10, such as by reducing an amount of time that may otherwise beconsumed by operations of placing a grasped item directly onto a surfacefor receiving the item 40.

The robotic arm 12 may grasp the item 40 from the grasping environment14. The grasping environment 14, which is depicted in FIG. 1 as aportion of an inventory holder 30, may correspond to any structure orenvironment (such as the depicted inventory item 40) maintaining aninventory item 40 that is to be grasped by the robotic arm 12. Forexample, the grasping environment 14 may equally correspond to a drawer,a tray, a table, a stand, or other structures associated with inventorysystems disclosed herein.

The sensor package 16 includes one or more sensors (of like or varyingtype) arranged to detect the item 40 while the item 40 is beingmaintained by the grasping environment 14. The sensor package 16communicates detected attributes (as at 46), such as a weight, geometriccharacteristics (e.g., size, position or orientation), electricalconductivity, magnetic properties, surface characteristics (e.g., howslippery or porous the item is), deformability, and/or structuralintegrity of the item 40, to the controller 32. The detected attributesmay also include a unique identifier of the item 40, such as a barcode-or RFID-encoded serial number. Based on the detected attributes, thecontroller 32 may access (as at 49), the item database 37, such as toaccess a record for the inventory item 40. The record can includeinformation about attributes of the item, such as weight, shape, size,or other physical characteristics of the item. Based on the record fromthe item database 37 and/or the detected attributes from the sensorpackage 16, the controller may access (as at 51) the item tossingdatabase 39 to access an item tossing strategy stored for the item 40 oritems with similar characteristics.

The controller 32 can provide instructions to the robotic arm 12 fortossing the item 40 based on the tossing strategy accessed from thetossing database at 39 (e.g., at 51). The item tossing strategy caninclude information about operating the robotic arm 12 in a manner thatwill cause the item 40 to travel along a suitable trajectory 13 to areceiving location 17. For example, the tossing strategy may include anycombination of information about how the item 40 is to be grasped by therobotic arm 12, how the robotic arm 12 is to move while grasping theitem 40, and/or a release point at which the robotic arm 12 is torelease the item 40. The trajectory 13 can represent a path of travelover a known distance from the robotic arm 12 to the target ordesignated receiving location 17. The trajectory 13 can include ahorizontal and a vertical component of the path of travel of the item40. For example, the release point of the robotic arm 12 may behorizontally offset from the receiving location. In many examples, thetrajectory 13 has endpoints corresponding to a release point from therobotic arm 12 and to a contact point at which the item 40 reaches asurface or other point of reference of the receiving location 17.

In some aspects, the controller 32 can provide instructions to therobotic arm 12 for gripping the item 40 based on a grasping strategyaccessed from the item grasping database 36 (e.g., at 52) and, based onthe selected grasping strategy, access a tossing strategy for the item40. In other aspects, the controller 32 may access a particular graspingstrategy from the item grasping database 36 (e.g., at 48) based on thetossing strategy accessed from the item tossing database 39 at 51. Theitem database 37, the item grasping database 36 and the item tossingdatabase 39 (or any combination thereof), although depicted as separatein FIG. 1, may share structure and/or content. Furthermore, developmentand use of an item gripping database and associated elements that may beutilized for the item grasping database 36 and associated elements isdescribed in U.S. patent application Ser. No. 14/572,420, filed Dec. 16,2014, entitled “GENERATING ROBOTIC GRASPING INSTRUCTIONS FOR INVENTORYITEMS” (Attorney Docket No. 90204-922779 (085500US)) and U.S. patentapplication Ser. No. 14/572,332, filed Dec. 16, 2014, entitled “ROBOTICGRASPING OF ITEMS IN INVENTORY SYSTEM” (Attorney Docket No. 90204-921329(083800US)), the entire disclosures of which are incorporated herein byreference.

Any suitable receiving location 17 can be provided. In the embodimentillustrated in FIG. 1, the receiving locations 17A-17D include a seriesof chutes arranged with openings in a horizontal plane. However, anyother suitable arrangement of receiving locations 17 can be utilized,including arrangements in a vertical or other non-horizontal plane orsurface, and/or structures other than chutes, for example, a set ofcontainers or other defined zones. In one specific alternate example, areceiving location 17 may correspond to a trash receptacle for receivingunwanted items from within the inventory system 10. As another specificexample, the receiving locations 17 may correspond to openings in anupright wall. Any receiving location 17 may provide received inventoryitems 40 to any other location or feature of the inventory system 10.For example, in the embodiment illustrated in FIG. 1, a first receivinglocation 17A provides routing to another inventory holder 30, while asecond receiving location 17B provides routing to a conveyor belt 21, athird receiving location 17C provides routing to a container 23, and afourth receiving location 17D provides routing to a truck or otherdelivery vehicle 25. The receiving locations 17 may utilize anyappropriate form of conveyance mechanism to provide routing, including,but not limited to, chutes, slides, ramps, conveyors, lifts, pushers,pullers, etc.

Thus, in the illustrative example shown in FIG. 1, the inventory system10 (e.g., via the controller 32) may receive a request that a particularinventory item 40 be moved to storage on a lower floor of the inventorysystem 10. In response, the inventory system 10 determines the locationof the item 40 (e.g., based on the item database 37), determines thatthe first receiving location 17A can provide appropriate routing toachieve this objective, and determines that the robotic arm 12 isavailable for tossing the item 40 to the first receiving location 17A.The inventory system 10 causes the item 40 to be brought within reach ofthe robotic arm 12 (for example, by instructing a mobile drive unit 20to move an inventory holder 30 carrying the item 40 to a suitablelocation). Information from the sensor package 16 and/or item database37 is used to determine a trajectory 13 for tossing the item 40 by therobotic arm 12 across a known distance to the first receiving location17A. A tossing strategy (and potentially an associated grippingstrategy) for operating the robotic arm 12 to achieve the trajectory 13is determined (e.g., based on information from the item tossing database39 and item grasping database 36). The robotic arm 12 is operatedaccording to the tossing strategy (e.g., grasps the item 40 with amechanical gripper, carries the item in an overhand arc executed by therobotic arm 12, and releases the item 40 from the gripper at acalculated point in the arc). The robotic arm 12 thus tosses the item 40into the first receiving location 17A so that the tossed item 40 istransferred down the corresponding chute to be loaded into anotherinventory holder 30′ for subsequent access on the lower floor.

FIG. 2 illustrates the contents of an inventory system 10. Inventorysystem 10 includes a management module 15, one or more mobile driveunits 20, one or more inventory holders 30, and one or more inventorystations 50. Mobile drive units 20 transport inventory holders 30between points within a workspace 70 in response to commandscommunicated by management module 15. Each inventory holder 30 storesone or more types of inventory items. As a result, inventory system 10is capable of moving inventory items between locations within workspace70 to facilitate the entry, processing, and/or removal of inventoryitems from inventory system 10 and the completion of other tasksinvolving inventory items.

Management module 15 assigns tasks to appropriate components ofinventory system 10 and coordinates operation of the various componentsin completing the tasks. These tasks may relate not only to the movementand processing of inventory items, but also to the management andmaintenance of the components of inventory system 10. For example,management module 15 may assign portions of workspace 70 as parkingspaces for mobile drive units 20, the scheduled recharge or replacementof mobile drive unit batteries, the storage of empty inventory holders30, or any other operations associated with the functionality supportedby inventory system 10 and its various components. Management module 15may select components of inventory system 10 to perform these tasks andcommunicate appropriate commands and/or data to the selected componentsto facilitate completion of these operations. Although shown in FIG. 2as a single, discrete component, management module 15 may representmultiple components and may represent or include portions of mobiledrive units 20 or other elements of inventory system 10. As a result,any or all of the interaction between a particular mobile drive unit 20and management module 15 that is described below may, in particularembodiments, represent peer-to-peer communication between that mobiledrive unit 20 and one or more other mobile drive units 20. The contentsand operation of an example embodiment of management module 15 arediscussed further below with respect to FIG. 3.

Mobile drive units 20 move inventory holders 30 between locations withinworkspace 70. Mobile drive units 20 may represent any devices orcomponents appropriate for use in inventory system 10 based on thecharacteristics and configuration of inventory holders 30 and/or otherelements of inventory system 10. In a particular embodiment of inventorysystem 10, mobile drive units 20 represent independent, self-powereddevices configured to freely move about workspace 70. Examples of suchinventory systems are disclosed in U.S. Patent Publication No.2012/0143427, published on Jun. 7, 2012, titled “SYSTEM AND METHOD FORPOSITIONING A MOBILE DRIVE UNIT” and U.S. Pat. No. 8,280,547, issued onOct. 2, 2012, titled “METHOD AND SYSTEM FOR TRANSPORTING INVENTORYITEMS”, the entire disclosures of which are herein incorporated byreference. In alternative embodiments, mobile drive units 20 representelements of a tracked inventory system configured to move inventoryholder 30 along tracks, rails, cables, crane system, or other guidanceor support elements traversing workspace 70. In such an embodiment,mobile drive units 20 may receive power and/or support through aconnection to the guidance elements, such as a powered rail.Additionally, in particular embodiments of inventory system 10 mobiledrive units 20 may be configured to utilize alternative conveyanceequipment to move within workspace 70 and/or between separate portionsof workspace 70. The contents and operation of an example embodiment ofa mobile drive unit 20 are discussed further below with respect to FIGS.4 and 5.

Additionally, mobile drive units 20 may be capable of communicating withmanagement module 15 to receive information identifying selectedinventory holders 30, transmit the locations of mobile drive units 20,or exchange any other suitable information to be used by managementmodule 15 or mobile drive units 20 during operation. Mobile drive units20 may communicate with management module 15 wirelessly, using wiredconnections between mobile drive units 20 and management module 15,and/or in any other appropriate manner. As one example, particularembodiments of mobile drive unit 20 may communicate with managementmodule 15 and/or with one another using 802.11, Bluetooth, or InfraredData Association (IrDA) standards, or any other appropriate wirelesscommunication protocol. As another example, in a tracked inventorysystem 10, tracks or other guidance elements upon which mobile driveunits 20 move may be wired to facilitate communication between mobiledrive units 20 and other components of inventory system 10. Furthermore,as noted above, management module 15 may include components ofindividual mobile drive units 20. Thus, for the purposes of thisdescription and the claims that follow, communication between managementmodule 15 and a particular mobile drive unit 20 may representcommunication between components of a particular mobile drive unit 20.In general, mobile drive units 20 may be powered, propelled, andcontrolled in any manner appropriate based on the configuration andcharacteristics of inventory system 10.

Inventory holders 30 store inventory items. In a particular embodiment,inventory holders 30 include multiple storage bins with each storage bincapable of holding one or more types of inventory items. Inventoryholders 30 are capable of being carried, rolled, and/or otherwise movedby mobile drive units 20. In particular embodiments, inventory holder 30may provide additional propulsion to supplement that provided by mobiledrive unit 20 when moving inventory holder 30.

Additionally, in particular embodiments, inventory items 40 may alsohang from hooks or bars (not shown) within or on inventory holder 30. Ingeneral, inventory holder 30 may store inventory items 40 in anyappropriate manner within inventory holder 30 and/or on the externalsurface of inventory holder 30.

Additionally, each inventory holder 30 may include a plurality of faces,and each bin may be accessible through one or more faces of theinventory holder 30. For example, in a particular embodiment, inventoryholder 30 includes four faces. In such an embodiment, bins located at acorner of two faces may be accessible through either of those two faces,while each of the other bins is accessible through an opening in one ofthe four faces. Mobile drive unit 20 may be configured to rotateinventory holder 30 at appropriate times to present a particular faceand the bins associated with that face to an operator or othercomponents of inventory system 10.

Inventory items represent any objects suitable for storage, retrieval,and/or processing in an automated inventory system 10. For the purposesof this description, “inventory items” may represent any one or moreobjects of a particular type that are stored in inventory system 10.Thus, a particular inventory holder 30 is currently “storing” aparticular inventory item if the inventory holder 30 currently holds oneor more units of that type. As one example, inventory system 10 mayrepresent a mail order warehouse facility, and inventory items mayrepresent merchandise stored in the warehouse facility. Duringoperation, mobile drive units 20 may retrieve inventory holders 30containing one or more inventory items requested in an order to bepacked for delivery to a customer or inventory holders 30 carryingpallets containing aggregated collections of inventory items forshipment. Moreover, in particular embodiments of inventory system 10,boxes containing completed orders may themselves represent inventoryitems.

In particular embodiments, inventory system 10 may also include one ormore inventory stations 50. Inventory stations 50 represent locationsdesignated for the completion of particular tasks involving inventoryitems. Such tasks may include the removal of inventory items frominventory holders 30, the introduction of inventory items into inventoryholders 30, the counting of inventory items in inventory holders 30, thedecomposition of inventory items (e.g. from pallet- or case-sized groupsto individual inventory items), the consolidation of inventory itemsbetween inventory holders 30, and/or the processing or handling ofinventory items in any other suitable manner. In particular embodiments,inventory stations 50 may just represent the physical locations where aparticular task involving inventory items can be completed withinworkspace 70. In alternative embodiments, inventory stations 50 mayrepresent both the physical location and also any appropriate equipmentfor processing or handling inventory items, such as scanners formonitoring the flow of inventory items in and out of inventory system10, communication interfaces for communicating with management module15, and/or any other suitable components. Inventory stations 50 may becontrolled, entirely or in part, by human operators or may be fullyautomated. Moreover, the human or automated operators of inventorystations 50 may be capable of performing certain tasks to inventoryitems, such as packing, counting, or transferring inventory items, aspart of the operation of inventory system 10.

Workspace 70 represents an area associated with inventory system 10 inwhich mobile drive units 20 can move and/or inventory holders 30 can bestored. For example, workspace 70 may represent all or part of the floorof a mail-order warehouse in which inventory system 10 operates.Although FIG. 2 shows, for the purposes of illustration, an embodimentof inventory system 10 in which workspace 70 includes a fixed,predetermined, and finite physical space, particular embodiments ofinventory system 10 may include mobile drive units 20 and inventoryholders 30 that are configured to operate within a workspace 70 that isof variable dimensions and/or an arbitrary geometry. While FIG. 2illustrates a particular embodiment of inventory system 10 in whichworkspace 70 is entirely enclosed in a building, alternative embodimentsmay utilize workspaces 70 in which some or all of the workspace 70 islocated outdoors, within a vehicle (such as a cargo ship), or otherwiseunconstrained by any fixed structure.

In operation, management module 15 selects appropriate components tocomplete particular tasks and transmits task assignments 18 to theselected components to trigger completion of the relevant tasks. Eachtask assignment 18 defines one or more tasks to be completed by aparticular component. These tasks may relate to the retrieval, storage,replenishment, and counting of inventory items and/or the management ofmobile drive units 20, inventory holders 30, inventory stations 50 andother components of inventory system 10. Depending on the component andthe task to be completed, a particular task assignment 18 may identifylocations, components, and/or actions associated with the correspondingtask and/or any other appropriate information to be used by the relevantcomponent in completing the assigned task.

In particular embodiments, management module 15 generates taskassignments 18 based, in part, on inventory requests that managementmodule 15 receives from other components of inventory system 10 and/orfrom external components in communication with management module 15.These inventory requests identify particular operations to be completedinvolving inventory items stored or to be stored within inventory system10 and may represent communication of any suitable form. For example, inparticular embodiments, an inventory request may represent a shippingorder specifying particular inventory items that have been purchased bya customer and that are to be retrieved from inventory system 10 forshipment to the customer. Management module 15 may also generate taskassignments 18 independently of such inventory requests, as part of theoverall management and maintenance of inventory system 10. For example,management module 15 may generate task assignments 18 in response to theoccurrence of a particular event (e.g., in response to a mobile driveunit 20 requesting a space to park), according to a predeterminedschedule (e.g., as part of a daily start-up routine), or at anyappropriate time based on the configuration and characteristics ofinventory system 10. After generating one or more task assignments 18,management module 15 transmits the generated task assignments 18 toappropriate components for completion of the corresponding task. Therelevant components then execute their assigned tasks.

With respect to mobile drive units 20 specifically, management module 15may, in particular embodiments, communicate task assignments 18 toselected mobile drive units 20 that identify one or more destinationsfor the selected mobile drive units 20. Management module 15 may selecta mobile drive unit 20 to assign the relevant task based on the locationor state of the selected mobile drive unit 20, an indication that theselected mobile drive unit 20 has completed a previously-assigned task,a predetermined schedule, and/or any other suitable consideration. Thesedestinations may be associated with an inventory request the managementmodule 15 is executing or a management objective the management module15 is attempting to fulfill. For example, the task assignment may definethe location of an inventory holder 30 to be retrieved, an inventorystation 50 to be visited, a storage location where the mobile drive unit20 should park until receiving another task, or a location associatedwith any other task appropriate based on the configuration,characteristics, and/or state of inventory system 10, as a whole, orindividual components of inventory system 10. For example, in particularembodiments, such decisions may be based on the popularity of particularinventory items, the staffing of a particular inventory station 50, thetasks currently assigned to a particular mobile drive unit 20, and/orany other appropriate considerations.

As part of completing these tasks mobile drive units 20 may dock withand transport inventory holders 30 within workspace 70. Mobile driveunits 20 may dock with inventory holders 30 by connecting to, lifting,and/or otherwise interacting with inventory holders 30 in any othersuitable manner so that, when docked, mobile drive units 20 are coupledto and/or support inventory holders 30 and can move inventory holders 30within workspace 70. While the description below focuses on particularembodiments of mobile drive unit 20 and inventory holder 30 that areconfigured to dock in a particular manner, alternative embodiments ofmobile drive unit 20 and inventory holder 30 may be configured to dockin any manner suitable to allow mobile drive unit 20 to move inventoryholder 30 within workspace 70. Additionally, as noted below, inparticular embodiments, mobile drive units 20 represent all or portionsof inventory holders 30. In such embodiments, mobile drive units 20 maynot dock with inventory holders 30 before transporting inventory holders30 and/or mobile drive units 20 may each remain continually docked witha particular inventory holder 30.

While the appropriate components of inventory system 10 completeassigned tasks, management module 15 may interact with the relevantcomponents to ensure the efficient use of space, equipment, manpower,and other resources available to inventory system 10. As one specificexample of such interaction, management module 15 is responsible, inparticular embodiments, for planning the paths mobile drive units 20take when moving within workspace 70 and for allocating use of aparticular portion of workspace 70 to a particular mobile drive unit 20for purposes of completing an assigned task. In such embodiments, mobiledrive units 20 may, in response to being assigned a task, request a pathto a particular destination associated with the task. Moreover, whilethe description below focuses on one or more embodiments in which mobiledrive unit 20 requests paths from management module 15, mobile driveunit 20 may, in alternative embodiments, generate its own paths.

Components of inventory system 10 may provide information to managementmodule regarding their current state, other components of inventorysystem 10 with which they are interacting, and/or other conditionsrelevant to the operation of inventory system 10. This may allowmanagement module 15 to utilize feedback from the relevant components toupdate algorithm parameters, adjust policies, or otherwise modify itsdecision-making to respond to changes in operating conditions or theoccurrence of particular events.

In addition, while management module 15 may be configured to managevarious aspects of the operation of the components of inventory system10, in particular embodiments, the components themselves may also beresponsible for decision-making relating to certain aspects of theiroperation, thereby reducing the processing load on management module 15.

Thus, based on its knowledge of the location, current state, and/orother characteristics of the various components of inventory system 10and an awareness of all the tasks currently being completed, managementmodule 15 can generate tasks, allot usage of system resources, andotherwise direct the completion of tasks by the individual components ina manner that optimizes operation from a system-wide perspective.Moreover, by relying on a combination of both centralized, system-widemanagement and localized, component-specific decision-making, particularembodiments of inventory system 10 may be able to support a number oftechniques for efficiently executing various aspects of the operation ofinventory system 10. As a result, particular embodiments of managementmodule 15 may, by implementing one or more management techniquesdescribed below, enhance the efficiency of inventory system 10 and/orprovide other operational benefits.

FIG. 3 illustrates in greater detail the components of a particularembodiment of management module 15. As shown, the example embodimentincludes a resource scheduling module 92, a route planning module 94, asegment reservation module 96, an inventory module 97, a communicationinterface module 98, a processor 90, and a memory 91. Management module15 may represent a single component, multiple components located at acentral location within inventory system 10, or multiple componentsdistributed throughout inventory system 10. For example, managementmodule 15 may represent components of one or more mobile drive units 20that are capable of communicating information between the mobile driveunits 20 and coordinating the movement of mobile drive units 20 withinworkspace 70. In general, management module 15 may include anyappropriate combination of hardware and/or software suitable to providethe described functionality.

Processor 90 is operable to execute instructions associated with thefunctionality provided by management module 15. Processor 90 maycomprise one or more general purpose computers, dedicatedmicroprocessors, or other processing devices capable of communicatingelectronic information. Examples of processor 90 include one or moreapplication-specific integrated circuits (ASICs), field programmablegate arrays (FPGAs), digital signal processors (DSPs) and any othersuitable specific or general purpose processors.

Memory 91 stores processor instructions, inventory requests, reservationinformation, state information for the various components of inventorysystem 10 and/or any other appropriate values, parameters, orinformation utilized by management module 15 during operation. Memory 91may represent any collection and arrangement of volatile or nonvolatile,local or remote devices suitable for storing data. Examples of memory 91include, but are not limited to, random access memory (RAM) devices,read only memory (ROM) devices, magnetic storage devices, opticalstorage devices or any other suitable data storage devices.

Resource scheduling module 92 processes received inventory requests andgenerates one or more assigned tasks to be completed by the componentsof inventory system 10. Resource scheduling module 92 may also selectone or more appropriate components for completing the assigned tasksand, using communication interface module 98, communicate the assignedtasks to the relevant components. Additionally, resource schedulingmodule 92 may also be responsible for generating assigned tasksassociated with various management operations, such as prompting mobiledrive units 20 to recharge batteries or have batteries replaced,instructing inactive mobile drive units 20 to park in a location outsidethe anticipated traffic flow or a location near the anticipated site offuture tasks, and/or directing mobile drive units 20 selected for repairor maintenance to move towards a designated maintenance station.

Route planning module 94 receives route requests from mobile drive units20. These route requests identify one or more destinations associatedwith a task the requesting mobile drive unit 20 is executing. Inresponse to receiving a route request, route planning module 94generates a path to one or more destinations identified in the routerequest. Route planning module 94 may implement any appropriatealgorithms utilizing any appropriate parameters, factors, and/orconsiderations to determine the appropriate path. After generating anappropriate path, route planning module 94 transmits a route responseidentifying the generated path to the requesting mobile drive unit 20using communication interface module 98.

Segment reservation module 96 receives reservation requests from mobiledrive units 20 attempting to move along paths generated by routeplanning module 94. These reservation requests request the use of aparticular portion of workspace 70 (referred to herein as a “segment”)to allow the requesting mobile drive unit 20 to avoid collisions withother mobile drive units 20 while moving across the reserved segment. Inresponse to received reservation requests, segment reservation module 96transmits a reservation response granting or denying the reservationrequest to the requesting mobile drive unit 20 using the communicationinterface module 98.

The inventory module 97 maintains information about the location andnumber of inventory items 40 in the inventory system 10. Information canbe maintained about the number of inventory items 40 in a particularinventory holder 30, and the maintained information can include thelocation of those inventory items 40 in the inventory holder 30. Theinventory module 97 can also communicate with the mobile drive units 20,utilizing task assignments 18 to maintain, replenish or move inventoryitems 40 within the inventory system 10.

Communication interface module 98 facilitates communication betweenmanagement module 15 and other components of inventory system 10,including reservation responses, reservation requests, route requests,route responses, and task assignments. These reservation responses,reservation requests, route requests, route responses, and taskassignments may represent communication of any form appropriate based onthe capabilities of management module 15 and may include any suitableinformation. Depending on the configuration of management module 15,communication interface module 98 may be responsible for facilitatingeither or both of wired and wireless communication between managementmodule 15 and the various components of inventory system 10. Inparticular embodiments, management module 15 may communicate usingcommunication protocols such as 802.11, Bluetooth, or Infrared DataAssociation (IrDA) standards. Furthermore, management module 15 may, inparticular embodiments, represent a portion of mobile drive unit 20 orother components of inventory system 10. In such embodiments,communication interface module 98 may facilitate communication betweenmanagement module 15 and other parts of the same system component.

In general, resource scheduling module 92, route planning module 94,segment reservation module 96, inventory module 97, and communicationinterface module 98 may each represent any appropriate hardware and/orsoftware suitable to provide the described functionality. In addition,as noted above, management module 15 may, in particular embodiments,represent multiple different discrete components and any or all ofresource scheduling module 92, route planning module 94, segmentreservation module 96, inventory module 97, and communication interfacemodule 98 may represent components physically separate from theremaining elements of management module 15. Moreover, any two or more ofresource scheduling module 92, route planning module 94, segmentreservation module 96, inventory module 97, and communication interfacemodule 98 may share common components. For example, in particularembodiments, resource scheduling module 92, route planning module 94,segment reservation module 96, and inventory module 97 representcomputer processes executing on processor 90 and communication interfacemodule 98 comprises a wireless transmitter, a wireless receiver, and arelated computer process executing on processor 90.

FIGS. 4 and 5 illustrate in greater detail the components of aparticular embodiment of mobile drive unit 20. In particular, FIGS. 4and 5 include a side and front view of an example mobile drive unit 20.Mobile drive unit 20 includes a docking head 110, a drive module 120, adocking actuator 130, and a control module 170. Additionally, mobiledrive unit 20 may include one or more sensors configured to detect ordetermine the location of mobile drive unit 20, inventory holder 30,and/or other appropriate elements of inventory system 10. In theillustrated embodiment, mobile drive unit 20 includes a position sensor140, a holder sensor 150, an obstacle sensor 160, and an identificationsignal transmitter 162.

Docking head 110, in particular embodiments of mobile drive unit 20,couples mobile drive unit 20 to inventory holder 30 and/or supportsinventory holder 30 when mobile drive unit 20 is docked to inventoryholder 30. Docking head 110 may additionally allow mobile drive unit 20to maneuver inventory holder 30, such as by lifting inventory holder 30,propelling inventory holder 30, rotating inventory holder 30, and/ormoving inventory holder 30 in any other appropriate manner. Docking head110 may also include any appropriate combination of components, such asribs, spikes, and/or corrugations, to facilitate such manipulation ofinventory holder 30. For example, in particular embodiments, dockinghead 110 may include a high-friction portion that abuts a portion ofinventory holder 30 while mobile drive unit 20 is docked to inventoryholder 30. In such embodiments, frictional forces created between thehigh-friction portion of docking head 110 and a surface of inventoryholder 30 may induce translational and rotational movement in inventoryholder 30 when docking head 110 moves and rotates, respectively. As aresult, mobile drive unit 20 may be able to manipulate inventory holder30 by moving or rotating docking head 110, either independently or as apart of the movement of mobile drive unit 20 as a whole.

Drive module 120 propels mobile drive unit 20 and, when mobile driveunit 20 and inventory holder 30 are docked, inventory holder 30. Drivemodule 120 may represent any appropriate collection of componentsoperable to propel mobile drive unit 20. For example, in the illustratedembodiment, drive module 120 includes motorized axle 122, a pair ofmotorized wheels 124, and a pair of stabilizing wheels 126. Onemotorized wheel 124 is located at each end of motorized axle 122, andone stabilizing wheel 126 is positioned at each end of mobile drive unit20.

Docking actuator 130 moves docking head 110 towards inventory holder 30to facilitate docking of mobile drive unit 20 and inventory holder 30.Docking actuator 130 may also be capable of adjusting the position ororientation of docking head 110 in other suitable manners to facilitatedocking. Docking actuator 130 may include any appropriate components,based on the configuration of mobile drive unit 20 and inventory holder30, for moving docking head 110 or otherwise adjusting the position ororientation of docking head 110. For example, in the illustratedembodiment, docking actuator 130 includes a motorized shaft (not shown)attached to the center of docking head 110. The motorized shaft isoperable to lift docking head 110 as appropriate for docking withinventory holder 30.

Drive module 120 may be configured to propel mobile drive unit 20 in anyappropriate manner. For example, in the illustrated embodiment,motorized wheels 124 are operable to rotate in a first direction topropel mobile drive unit 20 in a forward direction. Motorized wheels 124are also operable to rotate in a second direction to propel mobile driveunit 20 in a backward direction. In the illustrated embodiment, drivemodule 120 is also configured to rotate mobile drive unit 20 by rotatingmotorized wheels 124 in different directions from one another or byrotating motorized wheels 124 at different speeds from one another.

Position sensor 140 represents one or more sensors, detectors, or othercomponents suitable for determining the location of mobile drive unit 20in any appropriate manner. For example, in particular embodiments, theworkspace 70 associated with inventory system 10 includes a number offiducial marks that mark points on a two-dimensional grid that coversall or a portion of workspace 70. In such embodiments, position sensor140 may include a camera and suitable image- and/or video-processingcomponents, such as an appropriately-programmed digital signalprocessor, to allow position sensor 140 to detect fiducial marks withinthe camera's field of view. Control module 170 may store locationinformation that position sensor 140 updates as position sensor 140detects fiducial marks. As a result, position sensor 140 may utilizefiducial marks to maintain an accurate indication of the location mobiledrive unit 20 and to aid in navigation when moving within workspace 70.

Holder sensor 150 represents one or more sensors, detectors, or othercomponents suitable for detecting inventory holder 30 and/ordetermining, in any appropriate manner, the location of inventory holder30, as an absolute location or as a position relative to mobile driveunit 20. Holder sensor 150 may be capable of detecting the location of aparticular portion of inventory holder 30 or inventory holder 30 as awhole. Mobile drive unit 20 may then use the detected information fordocking with or otherwise interacting with inventory holder 30.

Obstacle sensor 160 represents one or more sensors capable of detectingobjects located in one or more different directions in which mobiledrive unit 20 is capable of moving. Obstacle sensor 160 may utilize anyappropriate components and techniques, including optical, radar, sonar,pressure-sensing and/or other types of detection devices appropriate todetect objects located in the direction of travel of mobile drive unit20. In particular embodiments, obstacle sensor 160 may transmitinformation describing objects it detects to control module 170 to beused by control module 170 to identify obstacles and to take appropriateremedial actions to prevent mobile drive unit 20 from colliding withobstacles and/or other objects.

Obstacle sensor 160 may also detect signals transmitted by other mobiledrive units 20 operating in the vicinity of the illustrated mobile driveunit 20. For example, in particular embodiments of inventory system 10,one or more mobile drive units 20 may include an identification signaltransmitter 162 that transmits a drive identification signal. The driveidentification signal indicates to other mobile drive units 20 that theobject transmitting the drive identification signal is in fact a mobiledrive unit. Identification signal transmitter 162 may be capable oftransmitting infrared, ultraviolet, audio, visible light, radio, and/orother suitable signals that indicate to recipients that the transmittingdevice is a mobile drive unit 20.

Additionally, in particular embodiments, obstacle sensor 160 may also becapable of detecting state information transmitted by other mobile driveunits 20. For example, in particular embodiments, identification signaltransmitter 162 may be capable of including state information relatingto mobile drive unit 20 in the transmitted identification signal. Thisstate information may include, but is not limited to, the position,velocity, direction, and the braking capabilities of the transmittingmobile drive unit 20. In particular embodiments, mobile drive unit 20may use the state information transmitted by other mobile drive units toavoid collisions when operating in close proximity with those othermobile drive units.

Control module 170 monitors and/or controls operation of drive module120 and docking actuator 130. Control module 170 may also receiveinformation from sensors such as position sensor 140 and holder sensor150 and adjust the operation of drive module 120, docking actuator 130,and/or other components of mobile drive unit 20 based on thisinformation. Additionally, in particular embodiments, mobile drive unit20 may be configured to communicate with a management device ofinventory system 10 and control module 170 may receive commandstransmitted to mobile drive unit 20 and communicate information back tothe management device utilizing appropriate communication components ofmobile drive unit 20. Control module 170 may include any appropriatehardware and/or software suitable to provide the describedfunctionality. In particular embodiments, control module 170 includes ageneral-purpose microprocessor programmed to provide the describedfunctionality. Additionally, control module 170 may include all orportions of docking actuator 130, drive module 120, position sensor 140,and/or holder sensor 150, and/or share components with any of theseelements of mobile drive unit 20.

Moreover, in particular embodiments, control module 170 may includehardware and software located in components that are physically distinctfrom the device that houses drive module 120, docking actuator 130,and/or the other components of mobile drive unit 20 described above. Forexample, in particular embodiments, each mobile drive unit 20 operatingin inventory system 10 may be associated with a software process(referred to here as a “drive agent”) operating on a server that is incommunication with the device that houses drive module 120, dockingactuator 130, and other appropriate components of mobile drive unit 20.This drive agent may be responsible for requesting and receiving tasks,requesting and receiving routes, transmitting state informationassociated with mobile drive unit 20, and/or otherwise interacting withmanagement module 15 and other components of inventory system 10 onbehalf of the device that physically houses drive module 120, dockingactuator 130, and the other appropriate components of mobile drive unit20. As a result, for the purposes of this description and the claimsthat follow, the term “mobile drive unit” includes software and/orhardware, such as agent processes, that provides the describedfunctionality on behalf of mobile drive unit 20 but that may be locatedin physically distinct devices from the drive module 120, dockingactuator 130, and/or the other components of mobile drive unit 20described above.

While FIGS. 4 and 5 illustrate a particular embodiment of mobile driveunit 20 containing certain components and configured to operate in aparticular manner, mobile drive unit 20 may represent any appropriatecomponent and/or collection of components configured to transport and/orfacilitate the transport of inventory holders 30. As another example,mobile drive unit 20 may represent part of an overhead crane system inwhich one or more crane assemblies are capable of moving within anetwork of wires or rails to a position suitable to dock with aparticular inventory holder 30. After docking with inventory holder 30,the crane assembly may then lift inventory holder 30 and move inventoryto another location for purposes of completing an assigned task.

Furthermore, in particular embodiments, mobile drive unit 20 mayrepresent all or a portion of inventory holder 30. Inventory holder 30may include motorized wheels or any other components suitable to allowinventory holder 30 to propel itself. As one specific example, a portionof inventory holder 30 may be responsive to magnetic fields. Inventorysystem 10 may be able to generate one or more controlled magnetic fieldscapable of propelling, maneuvering and/or otherwise controlling theposition of inventory holder 30 as a result of the responsive portion ofinventory holder 30. In such embodiments, mobile drive unit 20 mayrepresent the responsive portion of inventory holder 30 and/or thecomponents of inventory system 10 responsible for generating andcontrolling these magnetic fields. While this description providesseveral specific examples, mobile drive unit 20 may, in general,represent any appropriate component and/or collection of componentsconfigured to transport and/or facilitate the transport of inventoryholders 30.

FIG. 6 illustrates in greater detail the components of a particularembodiment of inventory holder 30. In particular, FIG. 6 illustrates thestructure and contents of one side of an example inventory holder 30. Ina particular embodiment, inventory holder 30 may comprise any number offaces with similar or different structure. As illustrated, inventoryholder 30 includes a frame 310, a plurality of legs 328, and a dockingsurface 350.

Frame 310 holds inventory items 40. Frame 310 provides storage space forstoring inventory items 40 external or internal to frame 310. Thestorage space provided by frame 310 may be divided into a plurality ofinventory bins 320, each capable of holding inventory items 40.Inventory bins 320 may include any appropriate storage elements, such asbins, compartments, or hooks.

In a particular embodiment, frame 310 is composed of a plurality oftrays 322 stacked upon one another and attached to or stacked on a base318. In such an embodiment, inventory bins 320 may be formed by aplurality of adjustable dividers 324 that may be moved to resize one ormore inventory bins 320. In alternative embodiments, frame 310 mayrepresent a single inventory bin 320 that includes a single tray 322 andno adjustable dividers 324. Additionally, in particular embodiments,frame 310 may represent a load-bearing surface mounted on mobilityelement 330. Inventory items 40 may be stored on such an inventoryholder 30 by being placed on frame 310. In general, frame 310 mayinclude internal and/or external storage space divided into anyappropriate number of inventory bins 320 in any appropriate manner.

Additionally, in a particular embodiment, frame 310 may include aplurality of device openings 326 that allow mobile drive unit 20 toposition docking head 110 adjacent docking surface 350. The size, shape,and placement of device openings 326 may be determined based on thesize, the shape, and other characteristics of the particular embodimentof mobile drive unit 20 and/or inventory holder 30 utilized by inventorysystem 10. For example, in the illustrated embodiment, frame 310includes four legs 328 that form device openings 326 and allow mobiledrive unit 20 to position mobile drive unit 20 under frame 310 andadjacent to docking surface 350. The length of legs 328 may bedetermined based on a height of mobile drive unit 20.

Docking surface 350 comprises a portion of inventory holder 30 thatcouples to, abuts, and/or rests upon a portion of docking head 110, whenmobile drive unit 20 is docked to inventory holder 30. Additionally,docking surface 350 supports a portion or all of the weight of inventoryholder 30 while inventory holder 30 is docked with mobile drive unit 20.The composition, shape, and/or texture of docking surface 350 may bedesigned to facilitate maneuvering of inventory holder 30 by mobiledrive unit 20. For example, as noted above, in particular embodiments,docking surface 350 may comprise a high-friction portion. When mobiledrive unit 20 and inventory holder 30 are docked, frictional forcesinduced between docking head 110 and this high-friction portion mayallow mobile drive unit 20 to maneuver inventory holder 30.Additionally, in particular embodiments, docking surface 350 may includeappropriate components suitable to receive a portion of docking head110, couple inventory holder 30 to mobile drive unit 20, and/orfacilitate control of inventory holder 30 by mobile drive unit 20.

Holder identifier 360 marks a predetermined portion of inventory holder30 and mobile drive unit 20 may use holder identifier 360 to align withinventory holder 30 during docking and/or to determine the location ofinventory holder 30. More specifically, in particular embodiments,mobile drive unit 20 may be equipped with components, such as holdersensor 150, that can detect holder identifier 360 and determine itslocation relative to mobile drive unit 20. As a result, mobile driveunit 20 may be able to determine the location of inventory holder 30 asa whole. For example, in particular embodiments, holder identifier 360may represent a reflective marker that is positioned at a predeterminedlocation on inventory holder 30 and that holder sensor 150 can opticallydetect using an appropriately-configured camera.

Depending on the configuration and characteristics of mobile drive unit20 and inventory system 10, mobile drive unit 20 may move inventoryholder 30 using a variety of appropriate methods. In a particularembodiment, mobile drive unit 20 is capable of moving inventory holder30 along a two-dimensional grid, combining movement along straight-linesegments with ninety-degree rotations and arcing paths to transportinventory holder 30 from the first location to the second location.Additionally, while moving, mobile drive unit 20 may use fixed objectslocated in the workspace as reference points to assist in navigation.For example, in particular embodiments, inventory system 10 includesmultiple fiducial marks. Mobile drive unit 20 may be configured todetect fiducial marks and to determine the location of mobile drive unit20 and/or measure its movement based on the detection of fiducial marks.

After mobile drive unit 20 arrives at the second location, mobile driveunit 20 may perform appropriate operations to facilitate access toinventory items 40 stored in inventory holder 30. For example, mobiledrive unit 20 may rotate inventory holder 30 to present a particularface of inventory holder 30 to an operator of inventory system 10 orother suitable party, such as a packer selecting inventory items 40 frominventory holder 30. Mobile drive unit 20 may also undock from inventoryholder 30. Alternatively, instead of undocking at the second location,mobile drive unit 20 may transport inventory holder 30 back to the firstlocation or to a third location after any appropriate actions have beentaken involving inventory items 40. For example, after a packer hasremoved particular inventory items 40 from inventory holder 30, mobiledrive unit 20 may return inventory holder 30 to its original storagelocation, a new storage location, or another inventory station. Mobiledrive unit 20 may then undock from inventory holder 30 at this newlocation.

As described above, embodiments herein are directed to tossing inventoryitems using robotic arms or manipulators within an inventory system.FIG. 7 illustrates an example inventory system 710 having a robotic arm712 capable of tossing an item 740 along multiple trajectories 713(individually referenced as 713A and 713B in FIG. 7) to move an item 740from the robotic arm 712 to a receiving location 717. In FIG. 7, thereceiving location 717 is shown as a standardized container that isreusable within the inventory system 700, but other structure mayadditionally or alternatively be utilized in association with thereceiving location 717. In embodiments, the robotic arm 712 can achievethe different trajectories 713A, 713B by changing tossing strategies oroperating according to different tossing strategies. Among othercharacteristics, the tossing strategies may vary according to initialvelocity, initial position, and/or initial orientation introduced to theinventory items 740 when released by the robotic arm 712.

The robotic arm 712 can utilize any suitable end effector 727 (orcombination of end effectors 727) to engage the item 740 to facilitatetossing the item 740. Examples of suitable end effectors 727 include,but are not limited to, soft robotic effectors, vacuum effectors,electro-adhesion effectors, and mechanical or electromechanicaleffectors. Soft robotic end effectors may generally include flexiblestructures that may be manipulated between various orientations. Thestructures may include silicon bodies or other flexible material.Manipulation of the flexible material may be achieved through use offlexible actuators such as air muscles (e.g., contractile or extensionaldevices operated by pressurized air movement relative to filling oremptying a pneumatic bladder), electro-active polymers (e.g., polymerswhich change size or shape when stimulated by an electric field), orferrofluids (e.g., fluids having suspended ferro-magnetic particlescapable of altering a size or shape of the fluid volume when subjectedto a magnetic field). Vacuum end effectors may grasp items usingsuction. Electro-adhesion end effectors can include an array ofelectrodes arranged along a flexible or rigid substrate capable ofapplying a charge (akin to static electricity) that can adhere an itemto the substrate portions that are in contact with the item. Mechanicalor electromechanical end effectors may include pinchers, claws,grippers, or other rigid components that may be actuated relative to oneanother for grasping an item. Other end effectors may also be utilizedto facilitate additional grasping and/or tossing techniques. Forexample, a magnetic or electromagnetic end effector may be useful forgrasping items having ferro-magnetic materials. As another example, anend effector may include a platform or other structure that can beplaced underneath an item (e.g., by scooping the item or as a result ofthe item dropping onto the platform) so as to grasp the item bysupporting the item from underneath.

In some aspects, the robotic arm 712 may alter a trajectory 713 orprovide a different trajectory 713 based on an end effector 727 utilizedby the robotic arm 712. The end effector 727 used by the robotic arm 712may have an effect on different operations associated with the toss. Forexample, the end effector 727 may affect how the item 740 is grasped forthe toss. Grasping may include any physical manipulation of objects,including, but not limited to, picking up, pushing, pulling,compressing, stretching, supporting, and moving.

The end effector 727 may also affect how the arm 712 moves whilegrasping the item 740 to impart motion for the toss. For example, an endeffector with a platform that supports the item 740 from beneath maylimit the robotic arm 712 to certain motions that resemble catapultingor overhand throwing, while an end effector with a mechanical pinchermay be able to clutch the item 740 in a manner that is sufficientlysecure to permit other operations, such as motions that resembleunderhand throwing or other wind-up motions.

The end effector may also affect how the item 740 is ultimately releasedor separates from the robotic arm 712 to initiate or begin thetrajectory 713. For example, an end effector with a mechanical pinchermay open the pincher to release the tossed item 740 at a particularrelease point during movement of the robotic arm 712 to provide thetossed item 740 with a particular initial position and initial velocityfor achieving the intended trajectory 713. As another example, an item740 moved by an end effector 727 with a platform that supports the item740 from beneath may separate from the end effector 727 and start atrajectory as a result of motion of the robotic arm 712, such as asudden stop of the robotic arm 712, rather than an active releasingoperation of the end effector 727. In some aspects, the end effector mayprovide additional forces or effects for changing or affecting astarting state of the item 740 being tossed. For example, a vacuum endeffector may reverse suction so as to provide a propelling effect to thetossed item 740 at the start of the trajectory 713.

FIG. 8 illustrates an example of an inventory system 810 utilizingmultiple robotic arms 812 (individually identified in FIG. 8 as a firstrobotic arm 812A and second robotic arm 812B). The multiple robotic arms812 can toss items into a set of receiving locations 817. The set mayinclude any suitable number, including one or more than one. Anyparticular receiving location 817 may be situated to receive items 840from any number of robotic arms 812, and robotic arms 812 may be capableof tossing items 840 to any number of receiving locations 817. Forexample, the system 810 illustrated in FIG. 8 includes four receivinglocations 817A-817D that can each receive inventory items 40 tossed byeither of the robotic arms 812A, 812B. However, in other embodiments, anindividual robotic arm 812 may be capable of tossing items 40 into asubset of the receiving locations 817. As may be appreciated, the system810 can include any ratio of robotic arms 812 to receiving locations817. For example, although two robotic arms 812 are shown with respectto four receiving locations 817, the system 810 could alternatively havemore robotic arms 812 than receiving locations 817, more receivinglocations 817 than robotic arms 812, or an even amount of robotic arms812 and receiving locations 817. In some embodiments, utilizing multiplerobotic arms 812 can reduce a number of failure points available in thesystem 810 and/or eliminate or reduce an amount of other conveyancemechanisms that might otherwise be utilized for movement of items withinthe system.

The system 810 can be operated so as to reduce a risk that differenttossing operations of different robotic arms 812 may interfere with oneanother. For example, a tossing strategy can be determined for using thefirst robotic arm 812A to toss a first inventory item 840A (in theillustrated example, a mug 840A) along a first trajectory 813A into athird receiving location 817C. A reservation 857 can be generatedcorresponding to a space and time of the trajectory 813A. Thereservation 857 may correspond to different segments 859A, 859B, 859C,859D, 859E (collectively 859) corresponding to different physical spacesand/or times (or ranges thereof) associated with the trajectory 813A.For example, the segments 859A, 859B, 859C may correspond to spaceranges or volumes occupied by the tossed first inventory item 840A atdifferent times during the first trajectory 813A. In some embodiments,the segments 859 can correspond to volumes of space that are larger thana volume occupied by a tossed item 840 by a specified margin of error.For example, if an item has a volume corresponding to a cube with sidesof 10 cm, the segment 859 reserved for the item may include a volume ofa cube with sides of 30 cm, such that a 10 cm buffer is provided aroundthe volume of the tossed item 40. In some aspects, a reservation 857 mayadditionally or alternatively include one or more segments 859D thatcorrespond to a space and/or time in which a robotic arm 812 is to movefor imparting motion to generate the trajectory 813 for the tossed item40. Additionally or alternatively, the reservation 857 may include oneor more segments 859E that correspond to a space and/or time in which areceiving location 817C is to be manipulated for receiving the tosseditem 840A. Some examples of such manipulation are described in greaterdetail herein with respect to FIG. 10.

The robotic arms 812 can be operated so as to avoid reservations 857 ofother robotic arms 812 or trajectories 813. As an illustrative example,the second robotic arm 812B may be tasked with tossing an item 840B(i.e., a second item 840B) to a first receiving location 817A. The firstreceiving location 817A may be located such that a trajectory 813B ofthe tossed second item 840B would cross the trajectory 813A of the mug840A. To avoid a conflict, a tossing strategy for the second robotic arm812B may be developed so that a trajectory 813B of the second item 840Bavoids the space corresponding to the segments 859B and 859C of thereservation 857 of the first robotic arm 812A. For example, the tossingstrategy may be developed for the second robotic arm 812B such that thetrajectory 813B provided by the second robotic arm 812B for the seconditem 840B passes over the space corresponding to the segments 859 of thereservation 857. Alternatively, the second robotic arm 812 may toss sothat the trajectory 813B of the second item 840B passes under the spacecorresponding to the reservation 857. As another alternative, the secondrobotic arm 812B may toss the second item 840B along a trajectory 813Bthat passes through the space of the reservation 857 at a time outsideof a time range associated with the reservation for the first roboticarm 812A. In some aspects, the second robotic arm 812B may alternativelyselect another item, such as the rubber ducky (third item 840C) that canbe tossed to a designated fourth receiving location 817D along a thirdtrajectory 813C that does not cross the reservation 857 of the firsttrajectory 813A of the first robotic arm 812A.

In some embodiments, robotic arms can be used to toss items to receivinglocations that are located above or below the robotic arm. For example,FIG. 9 illustrates an example system 910 in which a robotic arm 912 isused to toss an item 940 along a trajectory 913 to a receiving location917 (shown as a conveyor belt in FIG. 9) located on a floor 967A that ispositioned above a floor 967B on which the robotic arm 912 is located.

FIG. 10 illustrates a receiving location 1017 with features that can bemanipulated for receiving inventory items 1040 that are tossed. Forexample, the receiving location 1017 can include suitable structure fordirecting a tossed item 1040 into a chute 1072 or other suitablereceiving structure. In various embodiments, the receiving location 1017can be manipulated to vary characteristics of the receiving location1017 in response to information about the tossed inventory item 1040and/or a trajectory 1013 of the tossed inventory item 1040. For example,manipulation can include changing and/or moving features of thereceiving location 1017.

In some embodiments, a surface 1071 can be positioned to receive atossed item 1040. Characteristics of the surface 1071 can be adjusted,for example, to produce or reduce forces acting on the received item1040. For example, the surface 1071 may be adjusted to absorb force andreduce a risk of bouncing or intensity of bouncing of the tossed item1040, and/or the surface 1071 may be adjusted to increase forces thatare likely to cause the received item to slide to a desired location,rather than sticking.

The surface 1071 may be manipulated, for example, by changing an angle θof the surface. The angle θ is shown in FIG. 10 as a deviation from avertical plane, but may alternatively correspond to a deviation from anyother suitable reference. Any suitable structure for modifying the angleθ of the surface 1071 may be utilized. In the embodiment illustrated inFIG. 10, the angle of the surface 1071 can be adjusted by rotating abody 1073 having the surface 1071 about a pivot 1075, such as shown byarrow 1077. For example, decreasing the angle θ (e.g., rotating thesurface 1071 clockwise in FIG. 10) may increase a likelihood that atossed item 40 with a high-friction surface characteristic will slidedown the surface toward the chute 1072.

In some embodiments, the surface 1071 can be changed in resilience. Forexample, the surface 1071 may correspond to a fabric or mesh surfacethat can be made more or less taut, such as by controlling operation ofspools 1079 or a spring 1081. In some embodiments, a biasing mechanism,such as the spring 1081, can provide a shock-absorbing effect, e.g., toreduce momentum or otherwise absorb forces acting on the tossed item1040. In some scenarios, a stiffness of the spring 1081 or other biasingmechanism can be variable, e.g., allowing an amount of shock-absorptionto be controlled through automation in response to information about thetossed item 1040 and/or the trajectory 1013 of the tossed item 1040. Insome examples, changing a resilience may decrease a risk that a tosseditem 40 with a bouncy surface characteristic will bounce over or awayfrom the chute 1072.

In some aspects, a material of the surface 1071 may be changed. Forexample, the body 1073 can be rotated so that a foam surface 1074 can berotated and positioned in the path of the trajectory 1013 of the tosseditem 1040. Any other suitable mechanism for substituting and/ormodifying a characteristic of the surface 1071 may additionally oralternatively be used. Non-limiting examples include manipulating thereceiving location 1017 (such as substituting or changing the materialof the surface 1071) to change surface characteristics such as friction,electrical conductivity, resilience, magnetism, etc.

In various embodiments, the receiving location 1017 can includeappropriate structures for moving the received item 1040 to anappropriate location within the receiving location 1017. For example, asillustrated in FIG. 10, the body 1073 may be moved to push the receiveditem across the top of a first chute 1072 when an associated first trapdoor 1076 is closed. Such an action may move the item 1040 over a secondchute 1072B (e.g., moving from the position of the body 1073 shown insolid line at the left of FIG. 10 to the position shown in phantom linein the middle of FIG. 10). This may move the item 1040 to a positionfrom which item 1040 can be dropped into the second chute 1072B uponactuation of the trap door 1076B, or move the item 1040 directly intothe second chute 1072B if the second trap door 1076B is already open ornot present. The movement (e.g., translation) of the body 1073 may beprovided by any suitable actuation, for example, shown at 1078 as adouble-headed arrow 1078 illustrating lateral translation of the body1073. Although various features are illustrated for manipulating thereceiving location 1017 to accommodate a specific tossed item 1040,other combinations or types of features can alternatively oradditionally be used, including simpler or more complex structures thatinclude different types and/or numbers of features than illustrated inFIG. 10. Additionally, although the body 1073 is illustrated as aseparate component from the chute 1072, movable or adjustable surfacesin other embodiments may form a portion of the chute 1072 or otherstructure of the receiving location 1017.

FIG. 11 illustrates in greater detail additional components that can beutilized in inventory systems herein according to various embodiments.FIG. 11 illustrates a management module 1115, which may be an example ofthe management module shown in FIG. 3 and/or the controller 32 shown inFIG. 1. The management module 1115 includes a trajectory module 1180, areservation module 1182, and a control module 1184. Example modules areshown in FIG. 11, but functions and embodiments described herein canutilize a subset of the features provided by the modules and/oradditional functions can be provided. Additionally, while the examplemodules are here briefly discussed with regard to FIG. 11, furtherspecific details regarding the example modules may be appreciated withrespect to the descriptions of other Figures herein.

The trajectory module 1180 can utilize information to determine anappropriate trajectory and/or tossing strategy for moving an inventoryitem to a receiving location via a robotic arm. The reservation module1182 can reserve segments for trajectories of items, for associatedmotions of robotic arms, and/or for associated manipulations ofreceiving locations, for example, based on tossing strategies generatedfor robotic arms by the trajectory module 1180. In some aspects, thereservation module 1182 may evaluate different tossing strategies ortrajectories from the trajectory module 1180 and generate reservationsor otherwise select, prioritize, or organize tossing strategies so as tooptimize tossing operations in the workspace. For example, thereservation module 1182 may select a set and/or sequence of tossingstrategies for a set of robotic arms based on a determination that theselected tossing strategies can be performed together and will notinterfere with one another. In this way, the reservation module 1182 mayensure that an initial tossing strategy selected for one robotic armwill not unduly limit tossing strategy options for another robotic arm.The control module 1184 can generate instructions for controlling therobotic arm, for example, based on information from the trajectorymodule 1180 and/or the reservation module 1182. For example, the controlmodule 1184 may receive a trajectory from the trajectory module 1180 anddetermine whether or not to control the robotic arm to impart thattrajectory to an item based on whether that trajectory or motions forimparting that trajectory or receiving that trajectory would interferewith reserved segments specified by the reservation module. The controlmodule 1184 can additionally or alternatively generate instructions forcontrolling features of the receiving location, for example, based oninformation from the trajectory module 1180 and/or the reservationmodule 1182. For example, the control module 1184 may receive atrajectory from the trajectory module 1180 and determine an appropriateresponsive manipulation of the receiving location for receiving thetossed item in a way that directs the tossed item in a desirable wayand/or that avoids manipulations of the receiving location that mayconflict with reserved segments specified by the reservation module.

The trajectory module 1180 can utilize information from any suitablesource to determine a trajectory for a tossed item. For example, thetrajectory module 1180 may use order information 1186, item information1188, robotic arm information 1190, receiving location information 1192,and/or tossing environment information 1194. Order information 1186 mayinclude information about an ordered item, such as information about alocation of a requested item within a work space, a designateddestination for that item, and/or a designated timeframe for completingan order for the item. Such information may be used for example todetermine which of multiple robotic arms and/or receiving locations canbe used to fulfill the order for the item.

Item information 1188 may include information about the item, such asinformation about characteristics of the item. The item information 1188can be obtained from any relevant source, including from sensors (e.g.,the sensor package 16 of FIG. 1) or from stored information about theitem (e.g., the item database 37 of FIG. 1). Relevant characteristicsabout the item may include mass, weight, density, geometriccharacteristics (e.g., size, shape, dimensions, volume, position, ororientation), electrical conductivity, magnetic properties, surfacecharacteristics (e.g., how slippery or porous the item is, or a measureof friction, air resistance, or other resistance), deformability,structural integrity, resilience, fragility, electrical resistance,magnetism, temperature, etc. The variability, or ability of an item tochange any characteristic, may also be a relevant characteristic. Forexample, variability may provide an indication of an ability of the itemto change shape (e.g., if a book has a dust cover that may have a riskof separating from the book during a toss), change mass distribution(e.g., if an item has objects within packaging that can move relative tothe packaging such that the center mass of the item may move duringflight or tossing), or change other characteristics.

The robotic arm information 1190 may include information about therobotic arm to be used for a toss. For example, this may includeinformation about available end effectors, available degrees of freedomof motion of the robotic arm, kinds of motion that can be executed orachieved by the robotic arm, ranges of motion available with the roboticarm, velocity that the robotic arm can attain and/or impart on items,space occupied by the robotic arm when performing particular movements,or any other capabilities and/or constraints of the robotic arm.

The receiving location information 1192 can include information aboutthe receiving location for a particular toss. For example, this mayinclude an indication of availability of receiving locations for thetoss, horizontal or other distances to the receiving location, and/orinformation about how the receiving location can be or is to be varied(e.g., including, but not limited to, changes discussed with respect toFIG. 10).

The tossing environment information 1194 can include information aboutthe environment through which the trajectory of the tossed item is topass. For example, this information may include information aboutconditions within the workspace that may otherwise interfere with oraffect a trajectory of a tossed item. Non-limiting examples of suchconditions include temperature, air currents, or physical obstacles(e.g., fixed obstacles such as walls, floors, ceilings, etc. or movableobstacles such as inventory holders, robotic manipulators, humanoperators, etc.).

FIG. 12 illustrates an example of a process 1200 that can be performedto coordinate tossing of items. Some or all of the process 1200 (or anyother processes described herein, or variations and/or combinationsthereof) may be performed under the control of one or more computersystems configured with executable instructions, such as the modulesdescribed herein (e.g., those discussed with respect to the managementmodule 1115 of FIG. 11), and may be implemented as code (e.g.,executable instructions, one or more computer programs or one or moreapplications) executing collectively on one or more processors, byhardware or combinations thereof. The code may be stored on acomputer-readable storage medium, for example, in the form of a computerprogram including a plurality of instructions executable by one or moreprocessors. The computer-readable storage medium may be non-transitory.Moreover, unless indicated otherwise, acts shown in the processes arenot necessary performed in the order shown, and/or some acts can beomitted in embodiments.

The process 1200 at 1210 can include identifying an item. For example,the item may be identified based on sensor information (e.g., from thesensor package 16 described in FIG. 1) and/or based on informationstored about the item (e.g., in the item database 37 in FIG. 1). Thismay include identifying a set of characteristics (which may include oneor more characteristics) of the item that may be useful in planningand/or executing a toss of the item.

In some aspects, identifying the item at 1210 may include identifyingwhether the item is deemed tossable or not. For example, if an item isdetermined to be too fragile for tossing, the item may be sidetracked orotherwise diverted for moving through the inventory system in anothermanner that does not include tossing the item or that includes tossingthe item over shorter distances or with other less intense tosses.Additionally or alternatively, an item may be identified in which atossing strategy has not been developed. For example, the item may bedirected to another location so that a human operator or testingapparatus can be utilized to test and/or develop different item tossingstrategies for the item until a suitable strategy is determined. As anexample, the human operator may provide input about how the item may beeffectively tossed by the robotic arm, such as by selecting fromdifferent options presented on a screen or by donning a glove or othergarment and tossing the item so that a tossing strategy for the roboticarm may be generated using information from features on the glove (e.g.,pressure sensors, tactile sensors, or fiducial markers used to track themotion of the glove with an optical imaging device).

The process 1200 at 1220 can include grasping the item. For example, therobotic arm may be instructed to grasp the item using any appropriateend effector from any appropriate orientation, or combination of endeffectors and/or robotic arms. For example, the robotic arm may useinformation identified at 1210 about an orientation of the item tofacilitate grasping the item.

The process 1200 at 1230 can include planning an item toss. For example,this may include the trajectory module 1180 of FIG. 11 accessingappropriate information (as shown and described with respect to FIG. 11)for planning a trajectory of the item. The planning of the item toss mayalso include making and/or checking appropriate reservations (e.g., viathe reservation module 1182 of FIG. 11) for ensuring that that the itemtoss will not interfere with other item tosses. In some aspects, theplanning of an item toss may include determining multiple trajectoriesand selecting a specific trajectory from those possible trajectories.For example, a trajectory may be selected based on an amount of energyexpended by the robotic arm to cause the trajectory of the item.Additionally or alternatively, a trajectory may be selected based on thetrajectory not interfering with reservations of other robotic throwingarms. In some aspects, the planned item toss may include how a roboticarm will grasp an item, move a grasped item, and a point or a time atwhich the robotic arm will release the item from its grasp so as tocause the item to follow an appropriate trajectory to a receivinglocation. In alternate embodiments, the robotic arm may be constrainedto grasp an item in a particular manner, and a toss of the item may beplanned or an item tossing strategy may be determined based on a way inwhich the robotic arm is constrained to grasp the item or has alreadygrasped the item.

The process at 1200 at 1240 can include tossing the item. This caninclude operating, instructing, and/or controlling the robotic arm tograsp, move, and release the item according to the tossing strategydetermined for the item.

The process 1200 at 1250 can include receiving the tossed item. Forexample, this may include receiving the item at a receiving location. Insome aspects, receiving the tossed item includes manipulating thereceiving location, such as to change characteristics of the receivinglocation (e.g., in manners described above with respect to FIG. 10,and/or based on instructions from the control module 1184). Thereceiving location may be manipulated based on information about theitem and/or the trajectory of the item, such as a set of one or morecharacteristics about the item and/or the trajectory. Non-limitingexamples of characteristics that may be included in such a set ofcharacteristics include a velocity of the tossed item during thetrajectory, a mass of the tossed item, a geometric characteristic of thetossed item, a surface characteristic of the tossed item, adeformability of the tossed item, a structural integrity of the tosseditem, a variability of the tossed item, and/or other characteristicsdescribed herein. In some aspects, the receiving location can bemanipulated based on either or both of information about a planned tossand/or sensed information about a toss that has been initiated. Forexample, in some scenarios, the sensor package 16 of FIG. 1 may includesensors that can capture information about the tossed item during atrajectory between the robotic arm and the receiving location.

FIG. 13 illustrates aspects of an example environment 1000 forimplementing aspects in accordance with various embodiments. As will beappreciated, although a Web-based environment is used for purposes ofexplanation, different environments may be used, as appropriate, toimplement various embodiments. The environment includes an electronicclient device 1002, which can include any appropriate device operable tosend and receive requests, messages, or information over an appropriatenetwork 1004 and convey information back to a user of the device.Examples of such client devices include personal computers, cell phones,handheld messaging devices, laptop computers, set-top boxes, personaldata assistants, electronic book readers, and the like. The network caninclude any appropriate network, including an intranet, the Internet, acellular network, a local area network or any other such network orcombination thereof. Components used for such a system can depend atleast in part upon the type of network and/or environment selected.Protocols and components for communicating via such a network are wellknown and will not be discussed herein in detail. Communication over thenetwork can be enabled by wired or wireless connections and combinationsthereof. In this example, the network includes the Internet, as theenvironment includes a Web server 1006 for receiving requests andserving content in response thereto, although for other networks analternative device serving a similar purpose could be used as would beapparent to one of ordinary skill in the art.

The illustrative environment includes at least one application server1008 and a data store 1010. It should be understood that there can beseveral application servers, layers, or other elements, processes orcomponents, which may be chained or otherwise configured, which caninteract to perform tasks such as obtaining data from an appropriatedata store. As used herein the term “data store” refers to any device orcombination of devices capable of storing, accessing, and retrievingdata, which may include any combination and number of data servers,databases, data storage devices and data storage media, in any standard,distributed or clustered environment. The application server can includeany appropriate hardware and software for integrating with the datastore as needed to execute aspects of one or more applications for theclient device, handling a majority of the data access and business logicfor an application. The application server provides access controlservices in cooperation with the data store and is able to generatecontent such as text, graphics, audio and/or video to be transferred tothe user, which may be served to the user by the Web server in the formof HyperText Markup Language (“HTML”), Extensible Markup Language(“XML”) or another appropriate structured language in this example. Thehandling of all requests and responses, as well as the delivery ofcontent between the client device 1002 and the application server 1008,can be handled by the Web server. It should be understood that the Weband application servers are not required and are merely examplecomponents, as structured code discussed herein can be executed on anyappropriate device or host machine as discussed elsewhere herein.

The data store 1010 can include several separate data tables, databasesor other data storage mechanisms and media for storing data relating toa particular aspect. For example, the data store illustrated includesmechanisms for storing information which can be used by modulesdescribed herein, such as resource scheduling information 1012, routeplanning information 1014, segment reservation information 1016, and/orinventory information 1018. It should be understood that there can bemany other aspects that may need to be stored in the data store, such asfor page image information and to access right information, which can bestored in any of the above listed mechanisms as appropriate or inadditional mechanisms in the data store 1010. The data store 1010 isoperable, through logic associated therewith, to receive instructionsfrom the application server 1008 and obtain, update or otherwise processdata in response thereto.

Each server typically will include an operating system that providesexecutable program instructions for the general administration andoperation of that server and typically will include a computer-readablestorage medium (e.g., a hard disk, random access memory, read onlymemory, etc.) storing instructions that, when executed by a processor ofthe server, allow the server to perform its intended functions. Suitableimplementations for the operating system and general functionality ofthe servers are known or commercially available and are readilyimplemented by persons having ordinary skill in the art, particularly inlight of the disclosure herein.

The environment in one embodiment is a distributed computing environmentutilizing several computer systems and components that areinterconnected via communication links, using one or more computernetworks or direct connections. However, it will be appreciated by thoseof ordinary skill in the art that such a system could operate equallywell in a system having fewer or a greater number of components than areillustrated in FIG. 13. Thus, the depiction of the system 1000 in FIG.13 should be taken as being illustrative in nature and not limiting tothe scope of the disclosure.

The various embodiments further can be implemented in a wide variety ofoperating environments, which in some cases can include one or more usercomputers, computing devices or processing devices which can be used tooperate any of a number of applications. User or client devices caninclude any of a number of general purpose personal computers, such asdesktop or laptop computers running a standard operating system, as wellas cellular, wireless and handheld devices running mobile software andcapable of supporting a number of networking and messaging protocols.Such a system also can include a number of workstations running any of avariety of commercially-available operating systems and other knownapplications for purposes such as development and database management.These devices also can include other electronic devices, such as dummyterminals, thin-clients, gaming systems and other devices capable ofcommunicating via a network.

Most embodiments utilize at least one network that would be familiar tothose skilled in the art for supporting communications using any of avariety of commercially-available protocols, such as TransmissionControl Protocol/Internet Protocol (“TCP/IP”), Open SystemInterconnection (“OSI”), File Transfer Protocol (“FTP”), Universal Plugand Play (“UpnP”), Network File System (“NFS”), Common Internet FileSystem (“CIFS”) and AppleTalk. The network can be, for example, a localarea network, a wide-area network, a virtual private network, theInternet, an intranet, an extranet, a public switched telephone network,an infrared network, a wireless network, and/or any combination thereof.

In embodiments utilizing a Web server, the Web server can run any of avariety of server or mid-tier applications, including Hypertext TransferProtocol (“HTTP”) servers, FTP servers, Common Gateway Interface (“CGI”)servers, data servers, Java servers and business application servers.The server(s) also may be capable of executing programs or scripts inresponse requests from user devices, such as by executing one or moreWeb applications that may be implemented as one or more scripts orprograms written in any programming language, such as Java®, C, C# orC++, or any scripting language, such as Perl, Python or TCL, as well ascombinations thereof. The server(s) may also include database servers,including without limitation those commercially available from Oracle®,Microsoft®, Sybase® and IBM®.

The environment can include a variety of data stores and other memoryand storage media as discussed above. These can reside in a variety oflocations, such as on a storage medium local to (and/or resident in) oneor more of the computers or remote from any or all of the computersacross the network. In a particular set of embodiments, the informationmay reside in a storage-area network (“SAN”) familiar to those skilledin the art. Similarly, any necessary files for performing the functionsattributed to the computers, servers or other network devices may bestored locally and/or remotely, as appropriate. Where a system includescomputerized devices, each such device can include hardware elementsthat may be electrically coupled via a bus, the elements including, forexample, at least one central processing unit (“CPU”), at least oneinput device (e.g., a mouse, keyboard, controller, touch screen orkeypad) and at least one output device (e.g., a display device, printeror speaker). Such a system may also include one or more storage devices,such as disk drives, optical storage devices and solid-state storagedevices such as random access memory (“RAM”) or read-only memory(“ROM”), as well as removable media devices, memory cards, flash cards,etc.

Such devices also can include a computer-readable storage media reader,a communications device (e.g., a modem, a network card (wireless orwired), an infrared communication device, etc.) and working memory asdescribed above. The computer-readable storage media reader can beconnected with, or configured to receive, a computer-readable storagemedium, representing remote, local, fixed, and/or removable storagedevices as well as storage media for temporarily and/or more permanentlycontaining, storing, transmitting, and retrieving computer-readableinformation. The system and various devices also typically will includea number of software applications, modules, services or other elementslocated within at least one working memory device, including anoperating system and application programs, such as a client applicationor Web browser. It should be appreciated that alternate embodiments mayhave numerous variations from that described above. For example,customized hardware might also be used and/or particular elements mightbe implemented in hardware, software (including portable software, suchas applets) or both. Further, connection to other computing devices suchas network input/output devices may be employed.

Storage media and computer readable media for containing code, orportions of code, can include any appropriate media known or used in theart, including storage media and communication media, such as but notlimited to volatile and non-volatile, removable and non-removable mediaimplemented in any method or technology for storage and/or transmissionof information such as computer readable instructions, data structures,program modules or other data, including RAM, ROM, Electrically ErasableProgrammable Read-Only Memory (“EEPROM”), flash memory or other memorytechnology, Compact Disc Read-Only Memory (“CD-ROM”), digital versatiledisk (DVD) or other optical storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices or any othermedium which can be used to store the desired information and which canbe accessed by the a system device. Based at least in part on thedisclosure and teachings provided herein, a person of ordinary skill inthe art will appreciate other ways and/or methods to implement thevarious embodiments.

The specification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense. It will, however, beevident that various modifications and changes may be made thereuntowithout departing from the broader spirit and scope of the disclosure asset forth in the claims.

Other variations are within the spirit of the present disclosure. Thus,while the disclosed techniques are susceptible to various modificationsand alternative constructions, certain illustrated embodiments thereofare shown in the drawings and have been described above in detail. Itshould be understood, however, that there is no intention to limit theinvention to the specific form or forms disclosed, but on the contrary,the intention is to cover all modifications, alternative constructionsand equivalents falling within the spirit and scope of the invention, asdefined in the appended claims.

The use of the terms “a” and “an” and “the” and similar referents in thecontext of describing the disclosed embodiments (especially in thecontext of the following claims) are to be construed to cover both thesingular and the plural, unless otherwise indicated herein or clearlycontradicted by context. The terms “comprising,” “having,” “including,”and “containing” are to be construed as open-ended terms (i.e., meaning“including, but not limited to,”) unless otherwise noted. The term“connected” is to be construed as partly or wholly contained within,attached to, or joined together, even if there is something intervening.Recitation of ranges of values herein are merely intended to serve as ashorthand method of referring individually to each separate valuefalling within the range, unless otherwise indicated herein and eachseparate value is incorporated into the specification as if it wereindividually recited herein. All methods described herein can beperformed in any suitable order unless otherwise indicated herein orotherwise clearly contradicted by context. The use of any and allexamples, or exemplary language (e.g., “such as”) provided herein, isintended merely to better illuminate embodiments of the invention anddoes not pose a limitation on the scope of the invention unlessotherwise claimed. No language in the specification should be construedas indicating any non-claimed element as essential to the practice ofthe invention.

Preferred embodiments of this disclosure are described herein, includingthe best mode known to the inventors for carrying out the invention.Variations of those preferred embodiments may become apparent to thoseof ordinary skill in the art upon reading the foregoing description. Theinventors expect skilled artisans to employ such variations asappropriate and the inventors intend for the invention to be practicedotherwise than as specifically described herein. Accordingly, thisinvention includes all modifications and equivalents of the subjectmatter recited in the claims appended hereto as permitted by applicablelaw. Moreover, any combination of the above-described elements in allpossible variations thereof is encompassed by the invention unlessotherwise indicated herein or otherwise clearly contradicted by context.

All references, including publications, patent applications and patents,cited herein are hereby incorporated by reference to the same extent asif each reference were individually and specifically indicated to beincorporated by reference and were set forth in its entirety herein.

What is claimed is:
 1. A management module for an inventory managementsystem, the management module configured to: receive information about aparticular item of a plurality of items, the plurality of itemsincluding at least some items that differ from one another; utilize theinformation to identify a set of characteristics of the particular item;determine, from among one or more receiving locations, a designatedreceiving location designated for receiving the particular item, thedesignated receiving location having a known position relative to arobotic manipulator configured to grasp at least one item of theplurality of items; and determine, based at least in part on the set ofcharacteristics of the particular item and the known position of thedesignated receiving location, a tossing strategy for operating therobotic manipulator to move the particular item while grasped by therobotic manipulator to a release point and to release the particularitem at the release point so as to cause the identified item to movealong a trajectory from the release point to the known position of thedesignated receiving location, the trajectory having a verticalcomponent and a horizontal component.
 2. The management module of claim1, wherein the management module is further configured to: generateinstructions to cause the robotic manipulator to grasp the particularitem, wherein the particular item becomes a grasped particular item whengrasped by the robotic manipulator; generate instructions to cause therobotic manipulator to move the grasped particular item to the releasepoint based on the tossing strategy; and generate instructions to causethe robotic manipulator to release the grasped particular item at therelease point based on the tossing strategy.
 3. The management module ofclaim 1, wherein the management module is further configured to:determine a grasping strategy for grasping the particular item with therobotic manipulator so as to form a determined grasping strategy; anddetermine the tossing strategy based at least in part on the determinedgrasping strategy.
 4. The management module of claim 1, wherein themanagement module is further configured to: determine a graspingstrategy for grasping the particular item with the robotic manipulatorbased on the tossing strategy.
 5. The management module of claim 1,wherein the set of characteristics includes at least one of: a mass ofthe particular item; a geometric characteristic of the particular item;a surface characteristic of the particular item; a deformability of theparticular item; a structural integrity of the particular item; avariability of the particular item; a characteristic determined based oninformation received about the particular item from one or more sensors,or a characteristic determined based on stored information about theparticular item.
 6. The management module of claim 1, wherein themanagement module is further configured to determine the tossingstrategy based at least in part on one or more characteristics of therobotic manipulator that include at least one of: an end effectorassociated with the robotic manipulator; degrees of freedom of therobotic manipulator; types of motion possible with the roboticmanipulator; a range of motion of the robotic manipulator; velocityattainable by the robotic manipulator; or space occupied by the roboticmanipulator when performing particular movements.
 7. A management modulefor an inventory management system, the management module configured to:determine a first trajectory of tossing a first item by a first roboticmanipulator to a first receiving location in a set of receivinglocations, the set of receiving locations comprising one or morereceiving locations; generate a reservation including a space rangeassociated with the first trajectory during a certain time range; andgenerate instructions for causing a second robotic manipulator to toss asecond item to the first receiving location or to another receivinglocation in the set of receiving locations along a second trajectorythat avoids the space range associated with the first trajectory duringthe certain time range of the reservation.
 8. The management module ofclaim 7, wherein the second trajectory includes at least one of: a pathtravelling over the space range associated with the first trajectoryduring the certain time range of the reservation; a path travellingunder the space range associated with the first trajectory during thecertain time range of the reservation; or a path travelling through thespace range associated with the first trajectory during a time outsideof the certain time range of the reservation.
 9. The management moduleof claim 7, wherein the management module is configured to determine thefirst trajectory based at least in part on information about a tossingenvironment in which the first item is to be tossed, the informationabout the tossing environment including at least one of: air currentspresent in the tossing environment; or physical obstacles present in thetossing environment.
 10. The management module of claim 7, wherein thespace range associated with the first trajectory during the certain timerange further includes a space range in which the first roboticmanipulator moves to cause the first trajectory.
 11. The managementmodule of claim 7, wherein the second trajectory includes a path thatdoes not cross the space range associated with the first trajectoryduring the certain time range of the reservation.
 12. The managementmodule of claim 7, wherein the space range associated with the firsttrajectory is based at least in part on a geometric characteristic ofthe first item.
 13. The management module of claim 7, wherein themanagement module is further configured to: receive information aboutthe first item, wherein the first item is included in a plurality ofitems including at least some items that differ from one another;utilize the information to identify a set of characteristics of thefirst item; determine, from among the set of receiving locations, adesignated receiving location designated for receiving the first item,the designated receiving location comprising the first receivinglocation and having a known position relative to the first roboticmanipulator; determine, based at least in part on the set ofcharacteristics of the first item and the known position of the firstreceiving location, a tossing strategy for operating the first roboticmanipulator to move the first item while grasped by the first roboticmanipulator to a release point and to release the first item at therelease point so as to cause the first item to move along the firsttrajectory from the release point to the known position of the firstreceiving location, the first trajectory having a vertical component anda horizontal component; and generate instructions to cause the firstrobotic manipulator to toss the first item along the first trajectory;determine a second set of characteristics of at least one of the firstitem or the first trajectory; and generate instructions, based at leastin part on the second set of characteristics, to manipulate a structureat the first receiving location to be configured for receiving the firstitem.
 14. A management module for an inventory management system, themanagement module configured to: generate instructions to cause arobotic manipulator to toss a particular item of a plurality of itemsalong a trajectory toward a receiving location, the plurality of itemsincluding at least some items that differ from one another; determine aset of characteristics of at least one of the particular item or thetrajectory; and generate instructions, based at least in part on the setof characteristics, to manipulate a structure at the receiving locationto be configured for receiving the particular item.
 15. The managementmodule of claim 14, wherein the instructions to manipulate the structureat the receiving location include instructions to change an angle of asurface of the receiving location that is in a path of the trajectory.16. The management module of claim 14, wherein the instructions tomanipulate the structure at the receiving location include instructionsto change a location of at least a portion of the receiving locationthat is in a path of the trajectory.
 17. The management module of claim14, wherein the instructions to manipulate the structure at thereceiving location include instructions to change a resilience of aportion of the receiving location that is in a path of the trajectory.18. The management module of claim 14, wherein the instructions tomanipulate the structure at the receiving location include instructionsto change a material of the receiving location that is in a path of thetrajectory.
 19. The management module of claim 14, wherein theinstructions to manipulate the structure at the receiving locationinclude instructions to change a friction characteristic of a portion ofthe receiving location that is in a path of the trajectory.
 20. Themanagement module of claim 14, wherein the set of characteristicsincludes at least one of: a velocity of the particular item during thetrajectory; a mass of the particular item; a geometric characteristic ofthe particular item; a surface characteristic of the particular item; adeformability of the particular item; a temperature of the particularitem; a temperature of a space associated with the trajectory; astructural integrity of the particular item; or a variability of theparticular item.